Audio source localization by optimal control of a mobile robot
Identifieur interne : 000570 ( Main/Exploration ); précédent : 000569; suivant : 000571Audio source localization by optimal control of a mobile robot
Auteurs : Emmanuel Vincent [France] ; Aghilas Sini [France] ; François Charpillet [France]Source :
English descriptors
Abstract
We consider the task of audio source localization using a mi-crophone array on a mobile robot. Active localization algo-rithms have been proposed in the literature that can estimate the 3D position of a source by fusing the measurements taken for different poses of the robot. The robot movements are typ-ically fixed, however, or they obey heuristic strategies, such as turning the head and moving towards the source, which may be suboptimal. In this paper, we propose to control the robot movements so as to locate the source as quickly as possible. We represent the belief about the source position by a discrete grid and we introduce a dynamic programming algorithm to find the optimal robot motion minimizing the entropy of the grid. We report initial results in a real environment.
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Le document en format XML
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CS 25233 - 54052 Nancy cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lorraine.fr/</ref></desc></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><settlement type="city">Metz</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université de Lorraine</orgName></affiliation></author><author><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-415996" status="VALID"><idno type="RNSR">201521241C</idno><orgName>Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment</orgName><orgName type="acronym">LARSEN</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/larsen</ref></desc><listRelation><relation active="#struct-129671" type="direct"></relation><relation active="#struct-300009" type="indirect"></relation><relation active="#struct-423090" type="direct"></relation><relation active="#struct-206040" type="indirect"></relation><relation active="#struct-413289" type="indirect"></relation><relation name="UMR7503" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-129671" type="direct"><org type="laboratory" xml:id="struct-129671" status="VALID"><idno type="RNSR">198618246Y</idno><orgName>INRIA Nancy - Grand Est</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/nancy</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle active="#struct-423090" type="direct"><org type="department" xml:id="struct-423090" status="VALID"><orgName>Department of Complex Systems, Artificial Intelligence & Robotics</orgName><orgName type="acronym">LORIA - AIS</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.loria.fr/la-recherche-en/departements/complex-system-and-artificial-intelligence</ref></desc><listRelation><relation active="#struct-206040" type="direct"></relation><relation active="#struct-300009" type="indirect"></relation><relation active="#struct-413289" type="indirect"></relation><relation name="UMR7503" active="#struct-441569" type="indirect"></relation></listRelation></org></tutelle><tutelle active="#struct-206040" type="indirect"><org type="laboratory" xml:id="struct-206040" status="VALID"><idno type="IdRef">067077927</idno><idno type="RNSR">198912571S</idno><idno type="IdUnivLorraine">[UL]RSI--</idno><orgName>Laboratoire Lorrain de Recherche en Informatique et ses Applications</orgName><orgName type="acronym">LORIA</orgName><date type="start">2012-01-01</date><desc><address><addrLine>Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.loria.fr</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation><relation active="#struct-413289" type="direct"></relation><relation name="UMR7503" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-413289" type="indirect"><org type="institution" xml:id="struct-413289" status="VALID"><idno type="IdRef">157040569</idno><idno type="IdUnivLorraine">[UL]100--</idno><orgName>Université de Lorraine</orgName><orgName type="acronym">UL</orgName><date type="start">2012-01-01</date><desc><address><addrLine>34 cours Léopold - CS 25233 - 54052 Nancy cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lorraine.fr/</ref></desc></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><settlement type="city">Metz</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université de Lorraine</orgName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>active sensing</term><term>mobile robot control</term><term>occupancy grid</term><term>source localization</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">We consider the task of audio source localization using a mi-crophone array on a mobile robot. Active localization algo-rithms have been proposed in the literature that can estimate the 3D position of a source by fusing the measurements taken for different poses of the robot. The robot movements are typ-ically fixed, however, or they obey heuristic strategies, such as turning the head and moving towards the source, which may be suboptimal. In this paper, we propose to control the robot movements so as to locate the source as quickly as possible. We represent the belief about the source position by a discrete grid and we introduce a dynamic programming algorithm to find the optimal robot motion minimizing the entropy of the grid. We report initial results in a real environment.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Grand Est</li><li>Lorraine (région)</li></region><settlement><li>Metz</li><li>Nancy</li></settlement><orgName><li>Université de Lorraine</li></orgName></list><tree><country name="France"><region name="Grand Est"><name sortKey="Vincent, Emmanuel" sort="Vincent, Emmanuel" uniqKey="Vincent E" first="Emmanuel" last="Vincent">Emmanuel Vincent</name></region><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name><name sortKey="Sini, Aghilas" sort="Sini, Aghilas" uniqKey="Sini A" first="Aghilas" last="Sini">Aghilas Sini</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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